// Copyright (c) 2023, Open Source Robotics Foundation, Inc.
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#ifndef RVIZ_RENDERING__OBJECTS__EFFORT_VISUAL_HPP_
#define RVIZ_RENDERING__OBJECTS__EFFORT_VISUAL_HPP_

#include <map>
#include <memory>
#include <string>

#include <OgreSceneNode.h>
#include <OgreSceneManager.h>

#include "rviz_rendering/objects/arrow.hpp"
#include "rviz_rendering/objects/billboard_line.hpp"

#include "rviz_rendering/visibility_control.hpp"

namespace rviz_rendering
{
class EffortVisual
{
public:
  RVIZ_RENDERING_PUBLIC
  EffortVisual(
    Ogre::SceneManager * scene_manager, Ogre::SceneNode * parent_node, float width, float scale);

  // set rainbow color
  RVIZ_RENDERING_PUBLIC
  void getRainbowColor(float value, Ogre::ColourValue & color);
  RVIZ_RENDERING_PUBLIC
  void setEffort(const std::string & joint_name, double effort, double max_effort);

  // set the pose of coordinates frame the each joint refers to.
  RVIZ_RENDERING_PUBLIC
  void setFramePosition(const std::string & joint_name, const Ogre::Vector3 & position);
  RVIZ_RENDERING_PUBLIC
  void setFrameOrientation(const std::string & joint_name, const Ogre::Quaternion & orientation);

  RVIZ_RENDERING_PUBLIC
  void setFrameEnabled(const std::string & joint_name, const bool e);

  RVIZ_RENDERING_PUBLIC
  void setWidth(float w);

  RVIZ_RENDERING_PUBLIC
  void setScale(float s);

private:
  // The object implementing the effort circle
  std::map<std::string, std::unique_ptr<rviz_rendering::BillboardLine>> effort_circle_;
  std::map<std::string, std::unique_ptr<rviz_rendering::Arrow>> effort_arrow_;
  std::map<std::string, bool> effort_enabled_;

  Ogre::SceneManager * scene_manager_;
  Ogre::SceneNode * parent_node_;

  std::map<std::string, Ogre::Vector3> position_;
  std::map<std::string, Ogre::Quaternion> orientation_;

  float width_, scale_;
};
}  // namespace rviz_rendering

#endif  // RVIZ_RENDERING__OBJECTS__EFFORT_VISUAL_HPP_
